CN114755442A - Rotating speed obtaining method and system - Google Patents
Rotating speed obtaining method and system Download PDFInfo
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- CN114755442A CN114755442A CN202210405183.XA CN202210405183A CN114755442A CN 114755442 A CN114755442 A CN 114755442A CN 202210405183 A CN202210405183 A CN 202210405183A CN 114755442 A CN114755442 A CN 114755442A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
Abstract
The application provides a rotating speed obtaining method and a rotating speed obtaining system. The rotating speed obtaining method comprises the following steps: acquiring a sampling signal group from a rotating speed sensor, wherein the sampling signal group comprises sampling signals acquired by the rotating speed sensor in a sampling period; acquiring a historical sampling signal set, wherein the historical sampling signal set comprises a first historical sampling signal and a second historical sampling signal, and the first historical sampling signal is a signal generated when the gear tooth of the gear is touched by the rotating speed sensor last time; acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group; and acquiring the rotating speed of the gear according to the rotating time interval. The rotating speed acquisition method and the rotating speed acquisition system can acquire the rotating speed of the gear according to the sampling signal group and the historical sampling signal of the rotating speed sensor, and can avoid the condition that the rotating speed of the gear cannot be acquired or cannot be accurately acquired due to the fact that effective data cannot be acquired when the rotating speed of the gear is low.
Description
Technical Field
The application relates to the technical field of transmission measurement, in particular to a rotating speed obtaining method and a rotating speed obtaining system.
Background
An automatic transmission is a key component of an automobile for realizing automatic gear shifting. When the automatic transmission is used for gear shifting, the rotating speeds of a driving disc and a driven disc in the clutch need to be accurately calculated so as to avoid automobile impact or shaking caused by inaccurate rotating speed calculation.
Currently, the related art calculation of the rotating speeds of the driving disk and the driven disk in the clutch is mostly suitable for the automatic transmission in a high rotating speed state. When a driving disk or a driven disk in a clutch is in a low-rotation-speed state, a situation that corresponding data cannot be acquired within one sampling period and the rotation speed cannot be calculated may occur.
Disclosure of Invention
Accordingly, a method and a system for obtaining a rotation speed are provided. The rotating speed of the gear can be acquired according to the sampling signal group and the historical sampling signal of the rotating speed sensor, and the condition that the rotating speed of the gear cannot be acquired or cannot be accurately acquired due to the fact that effective data cannot be acquired when the rotating speed of the gear is low can be avoided.
In a first aspect, an embodiment of the present application provides a method for acquiring a rotation speed, where the method includes:
acquiring a sampling signal group from a rotating speed sensor, wherein the sampling signal group comprises sampling signals acquired by the rotating speed sensor in a sampling period;
acquiring a historical sampling signal set, wherein the historical sampling signal set comprises a first historical sampling signal and a second historical sampling signal, the first historical sampling signal is a signal generated when the rotating speed sensor touches the gear teeth of the gear last time, and the second historical sampling signal is a signal generated when the rotating speed sensor touches the gear tooth grooves of the gear last time;
acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group;
and acquiring the rotating speed of the gear according to the rotating time interval.
In one possible design, the obtaining the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group includes:
judging whether the sampling signal group comprises a first sampling signal or a second sampling signal, wherein the first sampling signal and the second sampling signal both comprise timestamps, the first sampling signal is a signal generated when the rotating speed sensor touches a gear tooth socket, and the second sampling signal is a signal generated when the rotating speed sensor touches the gear tooth socket;
if the first sampling signal or the second sampling signal is not included in the sampling signal group, acquiring a historical rotation time interval of the gear;
and acquiring the rotation time interval of the gear according to the historical rotation time interval and the first historical sampling signal or the second historical sampling signal.
In one possible design, the obtaining the rotation time interval according to the historical rotation time interval and the first historical sampling signal or the second historical sampling signal includes:
acquiring a first time interval, wherein the first time interval is the time interval from the last time the first historical sampling signal is acquired to the current time or the time interval from the last time the second historical sampling signal is acquired to the current time;
acquiring the larger of the historical rotation time interval of the gear and the first time interval;
taking the greater of the historical rotation time interval of the gear and the first time interval as the rotation time interval.
In one possible design, the obtaining the first time interval includes:
acquiring the sampling period;
acquiring the number of sampling periods between the last acquired first historical sampling signal or second historical sampling signal and the current sampling period;
and acquiring the first time interval according to the number of the sampling periods and the sampling periods.
In one possible design, the determining whether the first sampling signal or the second sampling signal is included in the sampling signal group includes:
judging whether a timestamp exists in the sampling signal group;
and if the timestamp exists in the sampling signal group, the sampling signal group comprises the first sampling signal or the second sampling signal.
In one possible design, the method further includes:
if the sampling signal group comprises the first sampling signal or the second sampling signal, acquiring the rotation time interval of the gear according to the first sampling signal and the first historical sampling signal, or acquiring the rotation time interval of the gear according to the second sampling signal and the second historical sampling signal.
In one possible design, if the first sampling signal is included in the sampling signal group, the rotation time interval of the gear is obtained according to the first sampling signal and the first historical sampling signal.
In a possible design, if the second sampling signal is included in the sampling signal group, the rotation time interval of the gear is obtained according to the second sampling signal and the second historical sampling signal.
In one possible design, the obtaining of the rotation speed of the gear according to the rotation time interval includes:
acquiring the number of teeth of a gear;
and acquiring the rotating speed of the gear according to the number of the teeth of the gear and the rotating time interval.
In a second aspect, an embodiment of the present application provides a rotation speed obtaining system, configured to measure a rotation speed of a gear through a rotation speed sensor, where the rotation speed sensor is connected to the gear, and the system includes:
the first signal acquisition module is used for acquiring a sampling signal group from the rotating speed sensor, wherein the sampling signal group comprises sampling signals acquired by the rotating speed sensor in a sampling period;
the system comprises a first signal acquisition module, a second signal acquisition module and a control module, wherein the first signal acquisition module is used for acquiring a historical sampling signal set, the historical sampling signal set comprises a first historical sampling signal and a second historical sampling signal, the first historical sampling signal is a signal generated when a gear tooth of a gear is touched by a rotating speed sensor last time, and the second historical sampling signal is a signal generated when the gear tooth of the gear is touched by the rotating speed sensor last time;
the time interval acquisition module is used for acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group;
and the rotating speed acquisition module is used for acquiring the rotating speed of the gear according to the rotating time interval.
The rotating speed acquisition method and the rotating speed acquisition system provided by the embodiment of the application can acquire the rotating speed of the gear according to the sampling signal group and the historical sampling signal group of the rotating speed sensor, the rotating speed of the gear can be accurately calculated according to the timestamp of the sampling signal when the rotating speed of the gear is lower by the rotating speed sensor, if no corresponding sampling signal exists in the sampling signal group, the rotating speed of the gear can be estimated according to the sampling time of the sampling signal group, and the condition that the rotating speed of the gear cannot be acquired or cannot be accurately acquired due to the fact that effective data cannot be acquired by the rotating speed acquisition method can be avoided.
Drawings
Fig. 1 is a block diagram of a rotational speed obtaining system according to an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart of a rotation speed obtaining method according to an embodiment of the present disclosure.
Fig. 3 is a flow chart illustrating the sub-steps of the rotational speed obtaining method in fig. 2.
Description of the main elements
Rotational speed acquisition system 10
First signal acquisition module 100
Second signal acquisition module 200
Time interval acquisition module 300
Rotational speed acquisition module 400
Clutch 30
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application.
In the present embodiment, "at least one" means one or more, and a plurality means two or more. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should be noted that in the embodiments of the present application, the terms "first", "second", and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or order, respectively. The features defined as "first" and "second" may explicitly or implicitly include one or more of the features described. In the description of the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or illustrations. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.
All other embodiments that can be obtained by a person skilled in the art without inventive step based on the embodiments in this application are within the scope of protection of this application.
An automatic transmission is a key component of an automobile for realizing automatic gear shifting. When the automatic transmission is switched between gears, the rotating speeds of a driving disc and a driven disc in the clutch need to be accurately calculated so as to avoid automobile impact or vibration caused by inaccurate rotating speed calculation.
Currently, the related art calculation of the rotating speeds of the driving disk and the driven disk in the clutch is mostly suitable for the automatic transmission at a high rotating speed. When a driving disc or a driven disc in the clutch is in a low rotating speed state, the situation that the sensor cannot acquire gear tooth or tooth slot data within a sampling period and cannot calculate the rotating speed may occur.
Therefore, the embodiment of the application provides a rotating speed calculating method and a rotating speed calculating system, which can calculate the rotating speed of the gear according to the sampling signal group and the historical sampling signal of the rotating speed sensor, and can avoid the situation that the rotating speed of the gear cannot be calculated or cannot be accurately calculated due to the fact that effective data cannot be acquired when the rotating speed of the gear is low.
Some embodiments of the application are described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
Fig. 1 is a block diagram of a rotational speed obtaining system 10 according to an embodiment of the present disclosure. The rotational speed acquisition system 10 includes the following components: the device comprises a first signal acquisition module 100, a second signal acquisition module 200, a time interval acquisition module 300 and a rotating speed acquisition module 400. The rotational speed acquisition system 10 is provided in the rotational speed sensor 20.
In the present embodiment, the rotation speed sensor 20 is connected to a gear (not shown) of the driving disk 31 or the driven disk 32 of the clutch 30 for sampling signals of the gear to obtain a sampling signal set.
In the present embodiment, the first signal acquiring module 100 is used for acquiring a sampling signal set from the rotation speed sensor 20. It is understood that the sampling signal group is a sampling signal that the rotation speed sensor 20 presses in a sampling period. When the rotation speed sensor 20 touches the teeth of the gear, a rising edge signal is generated and a timestamp is recorded, and the first signal acquiring module 100 records the signal as a first sampling signal and stores the timestamp of the first sampling signal. Similarly, when the rotation speed sensor 20 touches the tooth groove of the gear, a falling edge signal is generated and a time stamp is recorded, and the first signal obtaining module 100 records the falling edge signal as a second sampling signal and stores the time stamp of the second sampling signal. It can be understood that if the rotational speed sensor 20 does not touch the teeth or the tooth slots of the gear in one sampling period, the sampling signals in the sampling signal group will not change. The first signal acquiring module 100 may acquire a sampling time of the first sampling signal or the second sampling signal by reading a time stamp of the first sampling signal or the second sampling signal.
In this embodiment, the second signal obtaining module 200 is connected to the single chip 21 disposed inside the rotation speed sensor 20, and is configured to obtain the historical sampling signal group from the single chip 21. The historical sampling signal group comprises a first historical sampling signal and a second historical sampling signal. It is understood that the first historical sampling signal is a first sampling signal last acquired by the rotation speed sensor 20, and the second historical sampling signal is a second sampling signal historically acquired by the rotation speed sensor 20. Specifically, the first history sampling signal corresponds to a signal generated when the rotation speed sensor 20 touches the gear tooth last time, and the second history sampling signal corresponds to a signal generated when the rotation speed sensor 20 touches the gear tooth slot last time.
It is to be understood that the first and second historical samples each include a time stamp. It can be understood that, after each time a new first sampling signal is collected, the first signal obtaining module 100 updates the timestamp of the first historical sampling signal, marks the timestamp of the newly collected first sampling signal as the timestamp of the first historical sampling signal, and deletes the original timestamp of the first historical sampling signal. Similarly, the first signal obtaining module 100 updates the timestamp of the second historical sampling signal after acquiring a new second sampling signal each time.
It can be understood that the second signal obtaining module 200 may obtain the historical sampling signal set buffered in the single chip microcomputer 21 through a timestamp buffer (timestamp buffer) in the single chip microcomputer 21, and then retrieve the first historical sampling signal and the second historical sampling signal in the historical sampling signal set through an index (timestamp buffer index).
It can be understood that, if the historical signal sampling group stored in the single chip microcomputer 21 is a continuous signal, the first historical sampling signal and the second historical sampling signal may respectively correspond to a rising edge pulse and a falling edge pulse in the continuous signal.
In this embodiment, the time interval acquiring module 300 is configured to calculate a rotation time interval of the gear according to the sampling signal group and the historical sampling signal group. It can be understood that when the gear rotates by one gear tooth, the first sampling signal, the second sampling signal and the first sampling signal, or the second sampling signal, the first sampling signal and the second sampling signal are sequentially generated, that is, the rotation speed sensor 20 sequentially touches the gear tooth, the gear tooth slot and the gear, or the rotation speed sensor sequentially touches the gear tooth slot, the gear tooth and the gear tooth slot. Thus, by calculating the time between two consecutive and first sampled signals or the time between two consecutive second sampled signals, the time it takes for the gear to rotate one tooth, i.e. the gear rotation time interval, can be calculated. It can be understood that the time interval acquiring module 300 buffers the time interval of the gear rotation into the single chip microcomputer 21 after acquiring the time interval of the gear rotation. After the time interval obtaining module 300 obtains the new gear rotation time interval, the new gear rotation time interval covers the original gear rotation time interval, and is recorded as the historical time interval and stored in the single chip 21.
Specifically, the time interval acquiring module 300 is configured to determine whether a newly written time stamp is included in the sampling signal group acquired by the signal first acquiring module 100. And if the newly written time stamp is included in the sampling signal group, indicating that the newly written first sampling signal or second sampling signal is included in the sampling signal group. The time interval acquisition module 300 acquires a first sampling signal or a second sampling signal of the sampling signals and a time stamp thereof. The time interval obtaining module 300 then obtains the time stamp of the first historical sampling signal or the second historical sampling signal according to the calculation result, and the time interval obtaining module 300 performs difference operation on the two time stamps to obtain the gear rotation time interval.
It can be understood that, after the time stamp writing is performed in the acquired sampling signal group, the time interval acquiring module 300 is further configured to determine whether the sampling signal is a first sampling signal or a second sampling signal, and correspondingly covers the time stamp of the first historical sampling signal or the time stamp of the second historical sampling signal cached in the time stamp buffer in the single chip 21. It is understood that after the time interval acquiring module 300 updates the time stamp of the first historical sampling signal or the time stamp of the second historical sampling signal, the time stamp included in the first historical sampling signal and the time stamp included in the second historical sampling signal acquired by the second signal acquiring module 200 is the updated time stamp.
In other embodiments, the time interval acquiring module 300 may further acquire the gear rotation time interval according to the first sampling signal or the second sampling signal acquired by the first signal acquiring module 100 and the historical sampling signal set. Specifically, if the first signal obtaining module 100 obtains the first sampling signal, a difference value calculation may be performed according to the time stamps of the first sampling signal and the second historical sampling signal to obtain an elapsed time of the gear rotating by half a tooth, and a gear rotating time interval may be obtained according to the time of the gear rotating by half a tooth to perform a subsequent gear rotating speed calculation.
It can be understood that, if the time interval acquiring module 300 determines that the first signal acquiring module 100 acquires none of the first sampling signal or the second sampling signal from the plurality of sampling signals in the sampling signal group, it indicates that the first signal acquiring module 100 does not detect a complete gear rotation time interval in one sampling period. Therefore, the time interval acquisition module 300 is required to estimate the gear rotation time interval to obtain the estimated gear rotation time interval for subsequent gear speed calculation.
In this embodiment, the time interval acquisition module 300 performs the gear rotation time interval estimation when the first sampling signal or the second sampling signal is not included in the plurality of sampling signals in the sampling signal group. Specifically, the time interval acquisition module 300 acquires the historical gear rotation time interval, as well as the first time interval. The first time interval is a time interval between the last time the time interval acquisition module 300 acquired the first historical sampling signal and the current time or a time interval between the last time the time interval acquisition module 300 acquired the second historical sampling signal and the current time. It can be understood that, if the last acquired historical sampling signal of the time interval acquisition module 300 is the second historical sampling signal, the first time interval is a time interval from the last acquired second historical sampling signal to the current time. If the last acquired historical sampling signal of the time interval acquisition module 300 is the first historical sampling signal, the first time interval is a time interval between the last acquired first historical sampling signal and the current time.
In this embodiment, the time interval acquisition module 300 records the gear historical rotation time interval as T, and the first time interval as T1. The magnitudes of T1 and T are compared, and the larger of them is used as the gear rotation interval. Illustratively, if T1> T, the gear-rotation time interval is updated to T1. If T1< T, the reserved gear rotation time interval is T.
It is understood that when the time interval acquisition module 300 updates the gear historical rotation time interval to T1, T1 is updated to a new gear historical rotation time interval T, and in subsequent estimations, the updated gear historical rotation time interval T is used as the historical gear rotation time interval T.
In this embodiment, to reduce the calculation amount of the time interval obtaining module 300, the first time interval T1 may be simplified to be the product of the number of sampling cycles and the sampling cycle duration from the last time the first historical sampling signal or the second historical sampling signal was obtained to the current sampling cycle.
For example, when the time interval acquisition module 300 estimates the gear rotation time interval, the last acquired gear rotation time interval, i.e., the gear historical rotation time interval T, is 28ms, and the sampling period is 10 ms. If no rising edge signal or no falling edge signal is acquired in the first sampling period, the first time interval T1 is 10ms smaller than the historical gear rotation time interval T, so T-28 ms is still used as the gear rotation time interval to calculate the rotation speed. If no rising edge signal or no falling edge signal is acquired in the second sampling period, the first time interval T1 is 20ms and still smaller than the historical gear rotation time interval T, so T-28 ms is still used as the gear rotation time interval to calculate the rotation speed. If no rising edge signal or no falling edge signal is acquired in the third sampling period, because the first time interval T1 is 30ms longer than the historical gear rotation time interval T, the time of the first time interval T1, that is, 30ms is used as the gear rotation time interval to calculate the rotation speed, and the historical gear rotation time interval T is also updated to 30 ms. At the fourth sampling period, the first time interval T1 is 40ms, and the gear history rotation time interval T has been updated to 30ms, at which time T1 is 40ms as the new gear rotation time interval because T1> T.
It can be understood that when the time interval obtaining module 300 estimates the gear rotation time interval, the gear rotation time interval may be gradually increased, so as to avoid the problem that the gear rotation speed cannot be correctly calculated under the condition of low rotation speed due to directly resetting the gear rotation time interval or according to the original gear rotation time interval after the gear rotation time interval cannot be obtained.
In this embodiment, the rotation speed obtaining module 400 may obtain the number of teeth of the gear and the rotation time interval, and calculate the rotation speed of the gear according to the number of teeth of the gear and the rotation time interval of the gear.
Specifically, the rotational speed acquisition module 400 may calculate the rotational speed of the gear by equation (1).
Wherein the unit of the gear rotating speed is (rad/s), and the unit of the rotating time interval is(s).
It can be understood that, if the first signal obtaining module 100 does not include the first sampling signal or the second sampling signal in the plurality of sampling signal groups obtained in the consecutive sampling periods, the rotation speed obtaining module 400 may no longer sample the rotation speed of the gear, mark the rotation time interval of the gear as infinity, and perform the operation after the first signal obtaining module 100 reacquires the valid first sampling signal or the valid second sampling signal.
It can be understood that if the first signal obtaining module 100 fails to obtain the first sampling signal or the second sampling signal for a plurality of consecutive sampling periods, it indicates that the vehicle may have stopped, the gear in the clutch 30 stops rotating, or the rotation speed sensor 20 has a fault, and the signal of the gear cannot be effectively obtained. Therefore, the rotation speed acquiring module 400 may suspend calculating the rotation speed of the gear until the sampling signal set acquired by the first signal acquiring module 100 includes the first sampling signal or the second sampling signal, and then restart the gear rotation speed signal calculation.
Fig. 2 is a schematic flow chart of a rotation speed obtaining method according to an embodiment of the present application. The rotating speed obtaining method at least comprises the following steps:
s100: a set of sampled signals from a tachometer sensor is acquired.
It is to be understood that in step S100, please refer to fig. 1 together with a specific acquiring manner of the sampling signal set acquired from the rotation speed sensor 20 by the first signal acquiring module 100, which is not repeated herein.
S200: a set of historical sampled signals is acquired.
It can be understood that, in step S200, the second signal obtaining module 200 is configured to obtain a historical sampling signal set, where the historical sampling signal set includes a first historical sampling signal and a second historical sampling signal, the first historical sampling signal is a signal generated when the rotation speed sensor 20 touches a gear tooth of a gear last time, and the second historical sampling signal is a signal generated when the rotation speed sensor 20 touches the gear tooth slot of the gear last time.
S300: and acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group.
It can be understood that, in step S300, the time interval obtaining module 300 is configured to obtain the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group, please refer to fig. 1 for a specific obtaining manner, which is not described herein again.
S400: and acquiring the rotating speed of the gear according to the rotating time interval.
It can be understood that, in step 400, the rotation speed obtaining module 400 is configured to obtain the rotation speed of the gear according to the rotation time interval, and please refer to fig. 1 for a specific obtaining manner, which is not described herein again.
Referring to fig. 3, fig. 3 is a diagram illustrating sub-steps of step S300 in fig. 2. Wherein, step S300 specifically includes:
s310: and judging whether the first sampling signal or the second sampling signal is included in the sampling signal group.
It is understood that, in step S310, the time interval obtaining module 300 is configured to determine whether the sampling signal group includes the first sampling signal or the second sampling signal, please refer to fig. 1 for a specific determination manner, which is not described herein again.
S320: the time interval is obtained from the time stamp.
It can be understood that, in step S320, if the sampling signal group includes the first sampling signal or the second sampling signal, the time interval obtaining module 300 is configured to obtain the time interval according to the timestamp, and please refer to fig. 1 for a specific obtaining manner, which is not described herein again.
S330: the time interval is estimated based on the sampling period.
It is understood that, in step S330, if the sampling signal group does not include the first sampling signal and the second sampling signal, the time interval obtaining module 300 is configured to estimate the time interval according to the sampling period, and please refer to fig. 1 for a specific estimation manner, which is not described herein again.
The embodiment of the application provides a rotating speed obtaining method and a rotating speed obtaining system 10, which can calculate the rotating speed of a gear according to a sampling signal group and a historical sampling signal of a rotating speed sensor 20, and can avoid the situation that the rotating speed of the gear cannot be calculated or cannot be accurately calculated due to the fact that effective data cannot be obtained when the rotating speed of the gear is low.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present application and are not used as limitations of the present application, and that suitable modifications and changes of the above embodiments are within the scope of the claims of the present application as long as they are within the spirit and scope of the present application.
Claims (10)
1. A rotation speed acquisition method, characterized by comprising:
acquiring a sampling signal group from a rotating speed sensor, wherein the sampling signal group comprises sampling signals acquired by the rotating speed sensor in a sampling period;
acquiring a historical sampling signal set, wherein the historical sampling signal set comprises a first historical sampling signal and a second historical sampling signal, the first historical sampling signal is a signal generated when the rotating speed sensor touches the gear teeth of the gear last time, and the second historical sampling signal is a signal generated when the rotating speed sensor touches the gear tooth grooves of the gear last time;
acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group;
and acquiring the rotating speed of the gear according to the rotating time interval.
2. A method for obtaining a rotational speed according to claim 1, wherein the obtaining a rotational time interval of the gear according to the sampling signal group and the historical sampling signal group comprises:
judging whether the sampling signal group comprises a first sampling signal or a second sampling signal, wherein the first sampling signal and the second sampling signal both comprise timestamps, the first sampling signal is a signal generated when the rotating speed sensor touches a gear tooth space of a gear, and the second sampling signal is a signal generated when the rotating speed sensor touches the gear tooth space of the gear;
if the first sampling signal or the second sampling signal is not included in the sampling signal group, acquiring a historical rotation time interval of the gear;
and acquiring the rotation time interval of the gear according to the historical rotation time interval and the first historical sampling signal or the second historical sampling signal.
3. A rotational speed acquisition method according to claim 2, wherein the acquiring the rotational time interval from the historical rotational time interval and the first historical sample signal or the second historical sample signal includes:
acquiring a first time interval, wherein the first time interval is the time interval from the last time the first historical sampling signal is acquired to the current time or the time interval from the last time the second historical sampling signal is acquired to the current time;
acquiring the larger of the historical rotation time interval of the gear and the first time interval;
taking the greater of the historical rotation time interval of the gear and the first time interval as the rotation time interval.
4. A rotation speed acquisition method according to claim 3, wherein the acquiring of the first time interval comprises:
acquiring the sampling period;
acquiring the number of sampling periods between the last acquired first historical sampling signal or second historical sampling signal and the current sampling period;
and acquiring the first time interval according to the number of the sampling periods and the sampling periods.
5. The method for obtaining the rotation speed according to claim 2, wherein the determining whether the set of sampling signals includes a first sampling signal or a second sampling signal comprises:
judging whether a timestamp exists in the sampling signal group or not;
and if the timestamp exists in the sampling signal group, the sampling signal group comprises the first sampling signal or the second sampling signal.
6. A rotation speed acquisition method according to claim 2, characterized in that the method further comprises:
if the sampling signal group comprises the first sampling signal or the second sampling signal, acquiring the rotation time interval of the gear according to the first sampling signal and the first historical sampling signal, or acquiring the rotation time interval of the gear according to the second sampling signal and the second historical sampling signal.
7. A rotation speed obtaining method according to claim 6, wherein if the first sampling signal is included in the sampling signal group, a rotation time interval of the gear is obtained based on the first sampling signal and the first historical sampling signal.
8. A rotation speed obtaining method according to claim 6, wherein if the second sampling signal is included in the sampling signal group, a rotation time interval of the gear is obtained according to the second sampling signal and the second historical sampling signal.
9. A rotation speed acquisition method according to any one of claims 1 to 8, wherein the acquiring of the rotation speed of the gear according to the rotation time interval includes:
acquiring the number of teeth of a gear;
and acquiring the rotating speed of the gear according to the number of the teeth of the gear and the rotating time interval.
10. A rotational speed acquisition system for measuring a rotational speed of a gear by a rotational speed sensor connected to the gear, comprising:
the first signal acquisition module is used for acquiring a sampling signal group from the rotating speed sensor, wherein the sampling signal group comprises sampling signals acquired by the rotating speed sensor in a sampling period;
the system comprises a first signal acquisition module, a second signal acquisition module and a control module, wherein the first signal acquisition module is used for acquiring a historical sampling signal set, the historical sampling signal set comprises a first historical sampling signal and a second historical sampling signal, the first historical sampling signal is a signal generated when a gear tooth of a gear is touched by a rotating speed sensor last time, and the second historical sampling signal is a signal generated when the gear tooth of the gear is touched by the rotating speed sensor last time;
the time interval acquisition module is used for acquiring the rotation time interval of the gear according to the sampling signal group and the historical sampling signal group;
and the rotating speed acquisition module is used for acquiring the rotating speed of the gear according to the rotating time interval.
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